CN111113446A

CN111113446A - Self-moving robot

Info

Publication number: CN111113446A
Application number: CN202010012487.0A
Authority: CN
Inventors: 向剑; 夏昌太; 闫瑞君; 黄术生; 张泳伦
Original assignee: Shenzhen Silver Star Intelligent Technology Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Technology Co Ltd
Priority date: 2020-01-07
Filing date: 2020-01-07
Publication date: 2020-05-08
Anticipated expiration: 2040-01-07
Also published as: WO2021139137A1; CN111113446B

Abstract

The embodiment of the application discloses from mobile robot, from mobile robot includes main part, drive the drive from mobile robot subaerial drive wheel spare of moving, install in the main part and with the function module that the main part electricity is connected, function module include first part and install in the second part of first part, the second part is configured into display information, first part can around install in the first axis of main part rotates for the user can know more directly perceivedly from mobile robot's display information, promotes user experience and feels.

Description

Self-moving robot

Technical Field

The application relates to the field of robots, in particular to a mobile robot.

Background

The self-moving robot is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like. The method integrates the research results of multiple subjects such as sensor technology, information processing, electronic engineering, computer engineering, automatic control engineering, artificial intelligence and the like, represents the highest achievement of mechanical-electrical integration, and is one of the most active fields of scientific and technical development at present. With the continuous improvement of the performance of the robot, the application range of the self-moving robot is greatly expanded, and the self-moving robot applied to the service industry comprises a cleaning robot, a security robot, a welcome robot, a meal delivery robot and the like. Because of the work that can replace people independently to accomplish from mobile robot, the life of giving people has brought very big facility, has liberated people's both hands, receives people's favor more and more.

In the prior art, the self-moving robot provides state information of the self-moving robot mainly through a component fixed on the body of the self-moving robot or a voice prompt in the working process, a user cannot visually know the information of the self-moving robot, and experience is poor.

Content of application

The technical problem to be solved by the present application is to provide a self-moving robot, the self-moving robot includes a function module, the function module includes first part and second part, the second part is configured to show information, first part can around install in the first axle of main part rotates for the user can know more directly perceivedly from the information of self-moving robot, promotes user experience.

In order to solve the technical problem, the embodiment of the application adopts the following technical scheme:

the application provides a self-moving robot, includes:

a main body;

a driving wheel assembly mounted on the main body and driving the mobile robot to move on the ground;

the functional module is arranged on the main body and electrically connected with the main body, and comprises a first part and a second part arranged on the first part, the second part is configured to display information, and the first part rotates around a first shaft arranged on the main body.

In one embodiment, the second member is rotatable back and forth between a first position and a second position about a second axis generally perpendicular to the first axis.

In one embodiment, the second member includes a connecting portion and a functional portion, and the connecting portion is pivotally connected to the second shaft and drives the functional portion to rotate between the first position and the second position.

In one embodiment, the first member is provided with a first bracket, the connecting portion is provided with a second bracket corresponding to the first bracket, and the second bracket is mounted to the first bracket through a second shaft to mount the second member to the first member.

In one embodiment, the function part is mounted with a display screen, and the second member is rotated between a first position and a second position such that the display screen is retracted into or extended out of the main body, the display screen being configured to provide a visual display according to a state or service of the mobile robot.

In one embodiment, the visual display is a combination of one or more of an animation, an image, and a change in brightness.

In one embodiment, the functional module further comprises an environment detection assembly, the environment detection assembly comprises a visual sensor and a mounting seat for bearing the visual sensor, the mounting seat rotates along with the rotation of the second component, and when the second component rotates to the first position, an optical axis of the visual sensor is parallel to the top surface of the main body.

In one embodiment, an included angle between the mounting seat and a plane where the functional part is located is an acute angle.

In one embodiment, the mounting seat is mounted on the top of the second member, and is inclined upward from one end of the connecting portion to one end of the functional portion.

In one embodiment, the first member is a rotating disc, and the first member further comprises a first driver that drives the first member to rotate about the first axis.

In one embodiment, the second component comprises a second driver, and the second shaft is connected with the second driver, the second bracket and the first bracket in sequence from the middle part to two ends.

Compared with the prior art, the technical scheme of the embodiment of the application has at least the following beneficial effects:

the embodiment of the application discloses from mobile robot, from mobile robot includes main part, drive the drive from mobile robot subaerial drive wheel spare of moving, install in the main part and with the function module that the main part electricity is connected, function module include first part and install in the second part of first part, the second part is configured into display information, first part around install in the first axis of main part rotates for the user can know more directly perceivedly from mobile robot's state information, promotes user experience and feels.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other modifications can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a perspective view of a self-propelled robot in one embodiment of the present application;

FIG. 2 is a perspective view of the functional module of the present embodiment;

FIG. 3 is a schematic view of the second member rotated to a second position in an embodiment of the present application;

FIG. 3A is an enlarged view of a portion I of FIG. 3;

FIG. 4 is a schematic view of the second member rotating between a first position and a second position in an embodiment of the present application;

FIG. 5 is a schematic view of the self-propelled robot with the second member rotated to a second position in accordance with an embodiment of the present application;

FIG. 6 is a wire frame diagram of a visual display in an embodiment of the present application;

FIG. 6A is a schematic view of a visual display displayed on a functional portion of a second component in an embodiment of the present application;

FIG. 6B is a schematic view of another visual display displayed by the functional portion of the second component in an embodiment of the present application;

FIG. 7 is a schematic diagram of functional modules in another embodiment of the present application;

FIG. 8 is a partial cross-sectional view of a self-moving robot in an embodiment of the present application;

FIG. 9 is a schematic view of an angle between the mounting base and the functional portion according to an embodiment of the present disclosure;

FIG. 10 is a schematic view of a second member in a second position in another embodiment of the present application;

FIG. 11 is a schematic view of a second member in a first position in another embodiment of the present application;

FIG. 12 is a schematic view of a visual display displayed by a functional portion according to another embodiment of the present application;

fig. 13 is another schematic view of a functional portion of another embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below clearly with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "front", "rear", "left" and "right" in the present description refer to the forward direction of the self-moving robot, and the terms "top" and "bottom" in the present description refer to the normal working state of the self-moving robot.

Referring to fig. 1 and fig. 2, fig. 1 is a perspective view of an autonomous mobile robot according to an embodiment of the present application, and fig. 2 is a perspective view of a functional module according to the embodiment. In the present embodiment, a self-moving robot is described as an example of a cleaning robot, and in other embodiments, the self-moving robot may be a food delivery robot, an accompanying robot, an airport robot, a guidance robot, or the like. The self-moving robot includes a main body 10, a driving wheel member 20 mounted to the main body 10 and driving the self-moving robot to move on a floor, and a functional module 30 mounted to the main body 10 and electrically connected to the main body 10. The function module 30 includes a first member 31 and a second member 32 mounted to the first member 31, the second member 32 is configured to display information, the information displayed by the second member 32 may include status information of the self-moving robot, interaction information of a user with the self-moving robot, and the like, the first member 31 rotates about a first axis mounted to the main body 10, the first axis is at an axis L1, the second member 32 rotates back and forth between a first position and a second position about a second axis L2 substantially perpendicular to the first axis, the second member 32 retracts into the main body 10 when the second member 32 rotates to the first position, and the second member 32 gradually extends out of the main body 10 during the second member 32 rotates from the first position to the second position.

The driving wheel part 20 includes left and right driving wheels installed at left and right sides of a bottom of the main body 10, the bottom being a surface of the main body 10 facing the ground, and the driving wheel part 20 is configured to carry the self-moving robot and drive the self-moving robot to move on the ground. When carrying out various work tasks from mobile robot, need walk to corresponding position, from mobile robot can also include the omniwheel, the omniwheel can install in the position or lean on the back position by front position of the bottom of main part 10 makes the omniwheel with the mounted position of controlling the drive wheel constitutes triangle-shaped, improves the stationarity of moving the in-process from mobile robot, the omniwheel is the activity truckle, can 360 degrees rotations of level, so that from mobile robot can turn to in a flexible way, and the stationarity of walking from mobile robot and the flexibility that turns to all can promote user experience and feel.

The self-moving robot is a cleaning robot, and may further include a main cleaning brush installed at a middle position of the main body 10, preferably between the left and right driving wheels, and rotating around a horizontal axis to clean an area covered by the main body, and a sub-cleaning and housing box spirally arranged along an axial direction thereof with a plurality of bundles of bristles or adhesive tapes to clean a surface to be cleaned. The secondary cleaning brush is configured to rotate about an axis substantially perpendicular to the main body, and is fitted with a plurality of bristles or strips of glue extending at least partially to the outer edge of the main body 10. In the process of cleaning the surface to be cleaned by the cleaning robot, the auxiliary cleaning brush pushes dirt on the outer edge of the main body to a position which can be covered by the main body 10. The main part 10 installation main cleaning brush's position has seted up the suction inlet main body 10's internally mounted have the receiver with the suction inlet intercommunication, main part 10's inside still installs the fan, main cleaning brush pushes away the filth to the suction inlet under the suction effect of fan, with the filth via the suction inlet inhales the receiver. The receiver with be provided with on the communication path of fan and filter the piece, filter the air current, prevent that the filth from getting into the fan, cause the damage to the fan. The dirt may be debris, garbage, dust, sewage, or other smaller waste. The cleaning robot can be an intelligent sweeping robot or a dust collector for a family environment, and can also be a relatively large cleaning robot for cleaning the environment of a mall, a station and a restaurant lamp public place.

Referring to fig. 3, fig. 3 is a schematic view illustrating the second member rotated to the second position according to an embodiment of the present application. The second member 32 includes a connecting portion 321 and a functional portion 322, wherein the connecting portion 321 is pivotally connected to the second shaft L2 to drive the functional portion 322 to rotate between the first position and the second position. The first member 31 is provided with a first bracket 313, the connecting portion 321 is provided with a second bracket 323 corresponding to the first bracket 313, and the second bracket 323 is attached to the first bracket 313 via a second shaft L2 to attach the second member 32 to the first member 31. The first bracket 313 is fixedly mounted to the first member 31, and referring to fig. 3A, fig. 3A is a partial enlarged view of a portion I in fig. 3, the first bracket 313 includes a first left bracket 313A and a second left bracket 313b, the second bracket 323 includes a second left bracket 323A and a second right bracket 323b, the second left bracket 323A is mounted close to the first left bracket 313A, and the second right bracket 323b is mounted close to the first right bracket 313 b. The first support 313 and the second support 323 are both provided with second shaft holes, the second shaft L2 passes through the second shaft holes to connect the second component 32 with the first component 31, the second component 32 further includes a second driver 324, the second shaft L2 is sequentially connected to the second driver 324 from the middle to both ends, that is, the second driver 324 is installed at the middle position of the second shaft L2, the left side of the second driver 324 is sequentially connected to a second left support 323a and a first left support 313a, and the right side of the second driver 324 is sequentially connected to a second right support 323b and a first right support 313 b. The second driver 324 may be a driving motor, a steering engine, or the like.

The second driver 324 drives the connecting portion 321 to pivot around the second axis L2, so as to rotate the functional portion 322 between the first position and the second position. The line of the geometric center of the second component 32 is L3, please refer to fig. 4 and 5, fig. 4 is a schematic diagram illustrating the second component rotating between the first position and the second position in an embodiment of the present disclosure, and fig. 5 is a schematic diagram illustrating the self-moving robot when the second component rotates to the second position in an embodiment of the present disclosure. When the second component 32 is in the first position, the straight line L3 coincides with the axis L1 of the first shaft, that is, an included angle θ 1 between the straight line L3 and the axis L1 of the first shaft is zero, and when the second component 32 is in the second position, the included angle θ 1 between the straight line L3 and the axis L1 of the first shaft is a non-zero included angle, and the value of the included angle θ 1 is 0-90 degrees. The arrow O1 shows the rotation direction of the second member 31, in other embodiments, the rotation direction of the second member 32 may also be the direction indicated by O2 opposite to the direction indicated by O1, and the rotation angle θ 2 still takes a value between 0 and 90 degrees.

The first component 31 is a rotating disc, the first component 31 further includes a first driver (not shown in the figure), the first driver drives the first component 31 to rotate around a first axis, the first axis is a driving axis of the first driver, and the first driver may be a driving motor, a steering engine, or the like. The first member 31 can rotate through 360 degrees, which rotates the second member 32, and the second member 32 can pivot about the second axis L2 while rotating with the first member 31.

In some embodiments, the function portion 322 is mounted with a display screen, and the second member 32 is rotated between the first position and the second position such that the display screen is retracted into or extended from the main body 10, the display screen being configured to display information, providing a visual display according to the status or service information of the self-moving robot. Referring to fig. 6, fig. 6 is a wire frame diagram of a visual display, which may be a combination of one or more of animation, images, and changes in brightness, according to an embodiment of the present application. For example: when the self-moving robot is started, the display screen rotates to the second position, a starting animation or other dynamic pictures are played on the display screen and combined with voice to provide visual display for a user that the self-moving robot is started, and when the self-moving robot enters a cleaning mode, a functional diagram shown in fig. 6A is presented on the display screen, wherein the diagram is a broom-type image, or an animation which is composed of a plurality of images and can dynamically move or rotate, and the state that the self-moving robot is currently in a ground cleaning state is presented to the user in a visual form; when the self-moving robot enters the charging mode, the battery power image shown in fig. 6B is displayed on the display screen to provide visual display of the current state of the user, or the battery power image and the brightness change are combined to display, when the power is low, the battery power image becomes dark, the battery power image gradually becomes bright along with the increase of the power caused by charging, after the self-moving robot is fully charged, other functions are automatically executed by the self-moving robot, and the visual display of the corresponding state is presented on the display screen. In other embodiments, the information displayed by the display screen may be human-computer interaction or an interactive picture, the user may speak towards the display screen, corresponding content may be presented on the display screen, the display screen may rotate to a corresponding position according to the direction of the sound, and the service information is interactive information with the user, for example: the music playing interface can be displayed to provide visual display of music service, or other interactive information with the user, and the like, so as to further improve the user experience.

In some embodiments, please refer to fig. 7, 8 and 9, fig. 7 is a schematic diagram of a functional module in another embodiment of the present application, fig. 8 is a partial cross-sectional view of a self-moving robot in an embodiment of the present application, and fig. 9 is a schematic diagram of an included angle between a mounting base and a functional portion in an embodiment of the present application. The functional module 30 further includes an environment detection component 33, the environment detection component 33 includes a visual sensor 332 and a mounting seat 331 for carrying the visual sensor 332, an included angle θ 3 between planes of the mounting seat 331 and the functional portion 322 is an acute angle, the mounting seat 331 rotates along with the rotation of the second component 32, so that when the functional portion 322 rotates to extend out of the main body 10, the space required by the rotation of the main body does not need to be increased, and the installation space can be saved. The mounting seat 331 is mounted on the top of the second member 32, and is inclined upward from the end where the connecting portion 321 is located to the end where the functional portion 322 is located. When the second member 32 is rotated to the first position, the optical axis O3 of the visual sensor 332 is parallel to the top surface of the main body 10, i.e. the visual sensor 332 protrudes from the main body 10 during the rotation of the second member 32. The vision sensor 322 is a camera, when the self-moving robot executes a cleaning function, the vision sensor 322 detects the environment where the self-moving robot is located, the self-moving robot processes the image by collecting the image to identify the obstacle in the cleaning environment space, the self-moving robot builds a map according to the collected information to plan a path, and in the cleaning process, the collision between the self-moving robot and the obstacle is reduced, and the probability of damage of the self-moving robot is reduced. The visual sensor 332 can rotate in 360 directions along with the second component 32 in the rotation process of the first component 31, and can acquire image information around the environment where the self-moving robot is located, and the visual sensor 332 can acquire obstacle information at different heights in the rotation process of the second component 32 around the second axis L2, so that the accuracy of map construction is improved.

In other embodiments, the vision sensor 332 may also have a security function, when the self-moving robot is used as a home cleaning robot, when cleaning is not needed, the security or parking position of the self-moving robot is the position of the vision sensor facing a window or a door, image information of the position is collected in real time and transmitted to the mobile terminal of the user through a network, the user may receive and acquire information of the home in real time, and measures may be taken in time to process the information once a theft event occurs.

In another embodiment, please refer to fig. 10 and 11, in which fig. 10 is a schematic diagram of the second member located at the second position in another embodiment of the present application, and fig. 11 is a schematic diagram of the second member located at the first position in another embodiment of the present application. In this embodiment, the self-moving robot is a service robot or a nursing robot, and includes a main body 10, a driving wheel component 20, and a functional component 30, where the functional component 30 is formed on a head of the self-moving robot, and a functional part of the second component 32 forms a face of the head to better interact with a user.

In some embodiments, the visual sensor 332 works synchronously with the display screen to better realize human-computer interaction, the visual sensor 332 can perform human face tracking, the user can move around the self-moving robot or stand up and squat down, and the like, and the visual sensor can perform tracking by rotating around the first axis or pivoting around the second axis L2. Referring to fig. 12 and 13, fig. 12 is a schematic view of a visual display displayed on a functional portion in another embodiment of the present application, and fig. 13 is a schematic view of another visual display displayed on the functional portion in another embodiment of the present application. In the case of the human-computer interaction function, the content presented by the display screen is an interaction animation, for example, the expression changes, a white circle represents an eyesocket 325, a black circle represents an eyeball 326, when the vision sensor 332 tracks a human face, the eyesocket 325 can change in size and shape, the eyeball 326 can rotate along the eyesocket 325 and move within the range of the eyesocket 325, the self-moving robot is a service robot in a public place or a home cleaning robot or an accompanying robot, etc., so as to increase the diversity of the interaction function and provide different experiences for the user, in this embodiment, only an eye image is taken as an exemplary illustration, and the interaction image can also be other expression images.

Disclosed in embodiments of the present application is a self-moving robot comprising a main body 10, a driving wheel member 20 for driving the self-moving robot to move on a ground, a function module 30 mounted to the main body 10 and electrically connected to the main body 10, the function module 30 comprising a first member 31 and a second member 32 mounted to the first member 31, the second member 32 being configured to display information, the first member 31 being rotatable about a first axis, the second member 32 being rotatable with the first member 31 such that a user can intuitively understand the displayed information in various orientations, the second member 32 being pivotable about a second axis L2 substantially perpendicular to the first axis, and when in a second position, the second portion 32 being retracted into the main body 10, the second member 32 being effectively protected, the problem that the visual effect is poor due to the fact that the second component 32 is damaged or dust is accumulated when the self-moving robot does not work is prevented, and of course, the second component 32 can rotate around the second axis L2 between the first position and the second position while rotating along with the first component 31, so that interaction with a user is better achieved, and the user experience is further improved.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.

Claims

1. A self-moving robot, comprising:

a main body;

a driving wheel assembly mounted on the main body and driving the self-moving robot to move on the ground;

the functional module is arranged on the main body and electrically connected with the main body, and comprises a first part and a second part arranged on the first part, the second part is configured to display information, and the first part can rotate around a first shaft arranged on the main body.

2. The self-moving robot of claim 1, wherein the second member is rotatable back and forth between a first position and a second position about a second axis generally perpendicular to the first axis.

3. The self-propelled robot of claim 1 or 2, wherein the second member comprises a connecting portion and a functional portion, the connecting portion is pivotally connected to the second shaft to rotate the functional portion between the first position and the second position.

4. The self-moving robot according to claim 3, wherein the first member is provided with a first bracket, the connecting portion is provided with a second bracket corresponding to the first bracket, and the second bracket is mounted to the first bracket via a second shaft to mount the second member to the first member.

5. The self-moving robot according to claim 4, wherein the function section is mounted with a display screen, and the second member is rotated between a first position and a second position so that the display screen is retracted into or extended from the main body, the display screen being configured to provide a visual display according to a state or service of the self-moving robot.

6. The self-moving robot of claim 5, wherein the visual display is a combination of one or more of an animation, an image, a change in brightness, and the like.

7. The self-moving robot of claim 3, wherein the functional module further comprises an environment detection assembly comprising a vision sensor and a mount carrying the vision sensor, the mount rotating with rotation of the second member, an optical axis of the vision sensor being parallel to the top surface of the body when the second member is rotated to the first position.

8. The self-moving robot as claimed in claim 7, wherein the angle between the mounting seat and the plane of the functional part is an acute angle.

9. The self-moving robot as claimed in claim 7, wherein the mounting seat is mounted on a top of the second member to be inclined upward from one end of the connecting portion to one end of the functional portion.

10. A self-moving robot as claimed in claim 1 or 2, wherein the first part is a turning disc, the first part further comprising a first drive driving the first part to rotate about the first axis.

11. The self-moving robot as claimed in claim 1 or 2, wherein the second member includes a second driver, and the second shaft is connected to the second driver, the second support and the first support in this order from a middle portion to both ends.